MainMachine.cs
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using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
public partial class MainMachine : IRobot
{
public string Name { get; set; } = "TinStore";
private bool _canRunning = true;
public bool canRunning
{
get { return _canRunning; }
set
{
if (_canRunning != value) {
Msg.setlogones();
}
_canRunning = value;
}
}
public bool isBusy { get; set; } = false;
public bool isAlarm { get; set; } = false;
public RunStatus runStatus { get; set; } = RunStatus.Stop;
public Robot_Config Config { get; set; }
public bool UserPause { get; set; } = false;
public MoveInfo ResetMoveInfo;
/// <summary>
/// 右侧移动信息
/// </summary>
public MoveInfo StoreMoveInfo;
public MoveInfo LabelingMoveInfo;
public MoveInfo AIOTMoveInfo;
public delegate void ProcessMsg(List<Msg> msg);
public event ProcessMsg ProcessMsgEvent;
public event EventHandler<ErrInfo> ButtenEvent;
internal AxisBean X_Axis;
public AxisBean Y_Axis;
public AxisBean Z_Axis;
internal AxisBean Flip_Axis;
internal AxisBean Rotate_Axis;
public CylinderManger TPMove;
/// <summary>
/// up=
/// </summary>
public LiftMonitor FlipEquip;
public LimitedRotary RotateEquip;
ReelTransport boxTransport;
public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public ServerCommunication ServerCM = new ServerCommunication();
/// <summary>
/// 开始运行的时间
/// </summary>
public DateTime StartTime { get; set; }
/// <summary>
/// 是否在急停中
/// </summary>
public bool isInSuddenDown = false;
public MainMachine(Robot_Config _config) {
Config = _config;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
StoreMoveInfo = new MoveInfo(crc.GetString("Res0088","进出库调度"));
StoreMoveInfo.SetStateDelegate(StoreState);
LabelingMoveInfo = new MoveInfo(crc.GetString("Res0089","贴标机构"));
LabelingMoveInfo.SetStateDelegate(LabelingState);
ResetMoveInfo = new MoveInfo(crc.GetString("Res0090","重置"));
AIOTMoveInfo = new MoveInfo(crc.GetString("Res0091","出入库测试"));
#region 初始化led灯
StandbyLed = new Led(Config.DOList[IO_Type.Standby_Led].GetIOAddr(), LedColor.yellow);
AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr(), LedColor.red);
#endregion
#region 初始化伺服轴
X_Axis = new AxisBean(Config.X_Axis, Name);
//X_Axis.ForceSafeCheck = true;
X_Axis.interference += X_Axis_interference;
Y_Axis = new AxisBean(Config.Y_Axis, Name);
//Y_Axis.ForceSafeCheck = true;
Y_Axis.interference += Y_Axis_interference;
Z_Axis = new AxisBean(Config.Z_Axis, Name);
Flip_Axis = new AxisBean(Config.Flip_Axis, Name);
Rotate_Axis = new AxisBean(Config.Rotate_Axis, Name);
Crc_LanguageChangeEvent(null, EventArgs.Empty);
#endregion
TPMove = new CylinderManger(crc.GetString("Res0092","上层库位"), IO_Type.Tside_Right, IO_Type.Tside_Left);
FlipEquip = new LiftMonitor(IO_Type.Tin_Dock_Flip_Vertical, IO_Type.Tin_Dock_Flip_Horizontal, null, Flip_Axis, Config.Flip_Axis_Length, Config.Flip_Axis_Length_speed);
FlipEquip.DownOverTimeMS = 100;
FlipEquip.UpOverTimeMS = 100;
RotateEquip = new LimitedRotary( IO_Type.Tin_Dock_Rotate_Horizontal, IO_Type.Tin_Dock_Rotate_Vertical
, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp
, Rotate_Axis, Config.Rotate_Axis_Length, Config.Rotate_Axis_Length_speed);
boxTransport = new ReelTransport(Config, this);
boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
{
InOutEndProcessEvent?.Invoke(posid, storeMoveType, arg4);
};
AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
IOMonitor.RegisterIO(IO_Type.AutoRun_Single, Config, IO_VALUE.HIGH, Run_BTN, 2500,100);
IOMonitor.RegisterIO(IO_Type.Entry_Drawer, Config, IO_VALUE.LOW, Entry_Drawer_Open, 2500,100);
LedProcessInit();
}
private void Entry_Drawer_Open()
{
nglist = new List<string>();
}
private (bool, string) Y_Axis_interference(int from, int to)
{
if (Z_Axis.IsInPosition(Config.Z_Axis_P1)) {
return (false, "");
}
else
return (true, crc.GetString("Res0093","Z轴不在待机位,不允许移动"));
}
private (bool, string) X_Axis_interference(int from, int to)
{
if (Z_Axis.IsInPosition(Config.Z_Axis_P1))
{
return (false, "");
}
else
return (true, crc.GetString("Res0093","Z轴不在待机位,不允许移动"));
}
private void Crc_LanguageChangeEvent(object sender, EventArgs e)
{
StoreMoveInfo.Name = crc.GetString("Res0088","进出库调度");
ResetMoveInfo.Name = crc.GetString("Res0090","重置");
AIOTMoveInfo.Name = crc.GetString("Res0091","出入库测试");
LabelingMoveInfo.Name = crc.GetString("Res0089", "贴标机构");
}
public bool hasAlarm = false;
/// <summary>
/// 整机启动变量,设置为false后将退出线程,只在停止时调用
/// </summary>
bool mstart=true;
public void Run() {
mstart = true;
while (mstart) {
try
{
canRunning = DeviceCheck();
if (canRunning)
{
BtnProcess();
canRunning = SafeCheck();
//if (canRunning && !lastSafeCheckStatus){}
//lastSafeCheckStatus = canRunning;
}
Thread.Sleep(200);
if (!canRunning || !mstart)
continue;
if (runStatus == RunStatus.Running)
{
ioMonitor();
boxTransport.Process();
if (RobotManage.InoutDebugMode)
AutoInOutTestProcess();
else
StoreDemoProcess();
LabelingProcess();
}
else if (runStatus == RunStatus.HomeReset)
{
HomeReset();
}
}
catch (Exception ex)
{
Msg.add(ex.ToString(), MsgLevel.warning);
Msg.setlogones();
}
finally {
var m = Msg.get();
ProcessMsgEvent?.Invoke(m);
ServerCM.ProcessMsg(m);
StoreStatus currnetstoreStatus= StoreStatus.None;
if (m.Find((aa) => aa.msgLevel == MsgLevel.alarm) == null)
{
hasAlarm = false;
AlarmBuzzer.OFF();
if (ServerCM.storeStatus != StoreStatus.InStoreExecute
&& ServerCM.storeStatus != StoreStatus.OutStoreExecute
&& ServerCM.storeStatus != StoreStatus.ResetMove && ServerCM.storeStatus != StoreStatus.StoreOnline)
{
LogUtil.info($"test storeStatus is {ServerCM.storeStatus} change to StoreOnline");
currnetstoreStatus = StoreStatus.StoreOnline;
}
}
else {
hasAlarm = true;
AlarmBuzzer.ON();
currnetstoreStatus = isInSuddenDown ? StoreStatus.SuddenStop : StoreStatus.Warning;
}
//ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
if (!UserPause)
Msg.clear();
else
currnetstoreStatus = StoreStatus.Debugging;
if (currnetstoreStatus!=StoreStatus.None)
ServerCM.storeStatus = currnetstoreStatus;
}
}
LogUtil.info("主线程已退出.");
}
public void Start() {
ServerCM.StartConnectServer();
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
Run();
}
public void Stop() {
mstart = false;
AutoInOutTest = false;
ServerCM.StopConnectServer();
Thread.Sleep(300);
Alarm(AlarmType.None);
StopMove(true);
LedProcess(null);
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
}
public void BeginHomeReset(bool firstRun=false) {
if (!firstRun)
{
StopMove();
Thread.Sleep(500);
}
OpenAllServo();
boxTransport.Unlock();
Alarm(AlarmType.None);
runStatus = RunStatus.HomeReset;
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
ResetMoveInfo.log("开始回原");
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
//强制回原
bool forceHome=true;
void HomeReset()
{
if (CheckWait(ResetMoveInfo))
return;
switch (ResetMoveInfo.MoveStep)
{
case MoveStep.H01_HomeReset:
ServerCM.storeStatus = StoreStatus.ResetMove;
if (IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.LOW)) {
Msg.add(crc.GetString("Res0094","入料抽屉没有关闭"), MsgLevel.alarm);
return;
}
if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0095","出料抽屉没有关闭"), MsgLevel.alarm);
return;
}
if (IOValue(IO_Type.Taking_Clamp).Equals(IO_VALUE.LOW))
{
if (Setting_Init.Runtime_Step >= Runtime_StepE.Printed && Setting_Init.Runtime_Step < Runtime_StepE.LabelPasteFinish)
{
StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid);
//LabelingMoveInfo.NextMoveStep(MoveStep.Labeling01);
//StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
Msg.add("重置前物料正在贴标,无法继续,请手动处理", MsgLevel.warning, ErrInfo.LabelInPaste);
RobotManage.UserPause("重置前物料正在贴标,无法继续,请手动处理");
}
}
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
ResetMoveInfo.log("锁定抽屉");
IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
break;
case MoveStep.H02_HomeReset_01:
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
ResetMoveInfo.log("Z轴回原");
Z_Axis.HomeMove(ResetMoveInfo, forceHome);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
RotateEquip.TurnToEnd(false);
RotateEquip.SetWaitResultInfo(ResetMoveInfo);
break;
case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
ResetMoveInfo.log("XY轴回原");
CylinderMove(ResetMoveInfo, IO_Type.Tin_Dock_Left, IO_Type.Tin_Dock_Right, IO_VALUE.LOW);
CylinderMove(ResetMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
CylinderMove(ResetMoveInfo, IO_Type.Labeling_Left, IO_Type.Labeling_Right, IO_VALUE.HIGH);
CylinderMove(ResetMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.LOW);
X_Axis.HomeMove(ResetMoveInfo, forceHome);
Y_Axis.HomeMove(ResetMoveInfo, forceHome);
break;
case MoveStep.H03_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
FlipEquip.LiftUp(ResetMoveInfo);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
break;
case MoveStep.HEND_HomeReset:
forceHome = false;
StoreMoveInfo.NewMove(MoveStep.Wait);
boxTransport.Reset();
ResetMoveInfo.log("回原完成");
ResetMoveInfo.EndMove();
runStatus = RunStatus.Running;
ServerCM.storeStatus = StoreStatus.StoreOnline;
break;
}
}
bool _IgnoreSafecheck = false;
public bool IgnoreSafecheck { get => _IgnoreSafecheck; set {
if (value)
{
IOMove(IO_Type.SafeDoor_Disable, IO_VALUE.HIGH);
}
else {
IOMove(IO_Type.SafeDoor_Disable, IO_VALUE.LOW);
}
_IgnoreSafecheck = value;
} }
public bool IgnoreGratingSignal = false;
bool lastSafeCheckStatus = true;
bool SafeCheck() {
bool ok = true;
var ignorestring = "[" + crc.GetString("Res0096","已忽略") + "]";
if (IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0097","左侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.warning);
}
if (IOValue(IO_Type.RightDoor_Check).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck)
{
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0098","右侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.warning);
}
if (!lastSafeCheckStatus && ok)
{
SafetyDevice.ResumeAll();
}
lastSafeCheckStatus = ok;
return ok;
}
void DeviceSuddenStop() {
if (lastSafeCheckStatus)
{
AxisBean.StopMultiAxis(AxisBean.List);
MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
SafetyDevice.PauseAll();
if (runStatus == RunStatus.HomeReset)
{
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
}
}
}
/// <summary>
/// 最后一次气压检测变为0的时间
/// </summary>
DateTime lastAirCloseTime = DateTime.MinValue;
internal DateTime checkAlarmTime = DateTime.Now;
public bool DeviceCheck() {
bool ok = true;
isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
if (UserPause)
{
Msg.add(crc.GetString("Res0099","系统暂停"), MsgLevel.warning);
DeviceSuddenStop();
lastSafeCheckStatus = false;
ok = false;
return ok;
}
else if (isInSuddenDown)
{
Alarm(AlarmType.SuddenStop);
Msg.add(crc.GetString("Res0100","急停中"), MsgLevel.alarm);
ok = false;
}
else if (alarmType != AlarmType.None) {
//if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
//{
// Alarm(AlarmType.None);
//}
//else
{
Msg.add(crc.GetString("Res0101","系统需要重置"), MsgLevel.alarm,ErrInfo.SuddenStop);
ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
ok = false;
}
}
if (RobotManage.InoutDebugMode)
{
Msg.add(crc.GetString("Res0102","进出库调试模式"), MsgLevel.info);
//ok = false;
}
if (IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
{
if (lastAirCloseTime == DateTime.MinValue)
lastAirCloseTime = DateTime.Now;
TimeSpan span = DateTime.Now - lastAirCloseTime;
if (span.TotalSeconds > RobotManage.Config.AirCheckSeconds)
{
ok = false;
Msg.add(crc.GetString("Res0103","气压不足"), MsgLevel.warning);
}
}
else {
lastAirCloseTime = DateTime.MinValue;
}
if (alarmType!=AlarmType.SuddenStop)
{
TimeSpan span = DateTime.Now - checkAlarmTime;
if (span.TotalSeconds > 2)
{
checkAlarmTime = DateTime.Now;
foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
{
if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
{
if (configMoveAxis.DeviceName == "Comp_Axis")
{
if (runStatus == RunStatus.Running || ResetMoveInfo.IsStep(MoveStep.H06_HomeReset))
{
Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
+ crc.GetString("Res0104", "运动报警"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("Res0105","压紧轴报警"), true);
AxisManager.AlarmClear(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue());
Thread.Sleep(2000);
}
}
else
{
Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
+ crc.GetString("Res0104","运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
}
LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
ok = false;
}
}
}
}
return ok;
}
public void IgnoreX09() {
boxTransport.IgnoreX09 = true;
LogUtil.info("按下X09忽略");
}
}
}